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[b][Wysiswyg --I have a question how well does autonomous mode when the robot turns. Tank treads have a horrible track record when they turn. They have even been known to throw tracks because of there characteristic to only want to go straight.][b]
We resolved that problem the way that most teams have seemed to do it. We lowered the center idler about 1/8" on the bottom of the track to enable us to turn on that center point. It effectively cuts the surface area of the belt as it contacts the carpet, in half. That serves to cut down on the lateral drag of the tank steering but it also cuts down on the traction (accepting the fact that the carpet "meshes" with the belt, thus creating more grip and more friction coefficient).
We were lucky actually because the robot is almost perfectly balanced on that point--serendipitously of course!
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